WO2016056678A1 - Machine de construction, et procédé de commande de machine de construction - Google Patents

Machine de construction, et procédé de commande de machine de construction Download PDF

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Publication number
WO2016056678A1
WO2016056678A1 PCT/JP2015/082632 JP2015082632W WO2016056678A1 WO 2016056678 A1 WO2016056678 A1 WO 2016056678A1 JP 2015082632 W JP2015082632 W JP 2015082632W WO 2016056678 A1 WO2016056678 A1 WO 2016056678A1
Authority
WO
WIPO (PCT)
Prior art keywords
cylinder
boom
deceleration
deceleration section
movable range
Prior art date
Application number
PCT/JP2015/082632
Other languages
English (en)
Japanese (ja)
Inventor
吉朗 岩崎
市原　将志
Original Assignee
株式会社小松製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社小松製作所 filed Critical 株式会社小松製作所
Priority to PCT/JP2015/082632 priority Critical patent/WO2016056678A1/fr
Priority to DE112015000238.3T priority patent/DE112015000238B4/de
Priority to US15/102,648 priority patent/US9834908B2/en
Priority to JP2016510862A priority patent/JP6001808B2/ja
Priority to KR1020167015052A priority patent/KR101855970B1/ko
Priority to CN201580003299.9A priority patent/CN105874131B/zh
Publication of WO2016056678A1 publication Critical patent/WO2016056678A1/fr

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
    • E02F9/2267—Valves or distributors
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E02F9/2214—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing the shock generated at the stroke end
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/18—Counterweights
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/226—Safety arrangements, e.g. hydraulic driven fans, preventing cavitation, leakage, overheating
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45012—Excavator

Abstract

　La machine de construction selon l'invention comprend : un vérin hydraulique qui entraîne la machine de construction à l'intérieur d'une plage d'évolution ; un dispositif de détection qui détecte l'orientation de la machine de construction ; une unité de détection de signal opérationnel qui détecte un signal opérationnel lorsque la machine de construction est utilisée ; une soupape de commande qui peut réguler la quantité d'huile hydraulique fournie au vérin hydraulique ; un processeur qui détermine si la machine de construction se déplace à la position d'arrêt dans la plage d'évolution, d'après le signal opérationnel détecté par l'unité de détection de signal opérationnel ; une unité de réglage qui, d'après des valeurs de seuil prédéterminées et l'orientation d'une machine de construction dans un état arrêté à la position d'arrêt, règle une section de décélération comprenant une position de bord de la plage d'évolution, et le taux de décélération de la machine de construction dans la section de décélération ; et une unité de commande qui émet un signal de commande de sorte que la machine de construction se déplace de la position d'arrêt à la position de bord, d'après la section de décélération et le taux de décélération.
PCT/JP2015/082632 2015-11-19 2015-11-19 Machine de construction, et procédé de commande de machine de construction WO2016056678A1 (fr)

Priority Applications (6)

Application Number Priority Date Filing Date Title
PCT/JP2015/082632 WO2016056678A1 (fr) 2015-11-19 2015-11-19 Machine de construction, et procédé de commande de machine de construction
DE112015000238.3T DE112015000238B4 (de) 2015-11-19 2015-11-19 Arbeitsmaschine und Steuerverfahren für Arbeitsmaschine
US15/102,648 US9834908B2 (en) 2015-11-19 2015-11-19 Work machine and control method for work machine
JP2016510862A JP6001808B2 (ja) 2015-11-19 2015-11-19 作業機械及び作業機械の制御方法
KR1020167015052A KR101855970B1 (ko) 2015-11-19 2015-11-19 작업 기계 및 작업 기계의 제어 방법
CN201580003299.9A CN105874131B (zh) 2015-11-19 2015-11-19 作业机械以及作业机械的控制方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2015/082632 WO2016056678A1 (fr) 2015-11-19 2015-11-19 Machine de construction, et procédé de commande de machine de construction

Publications (1)

Publication Number Publication Date
WO2016056678A1 true WO2016056678A1 (fr) 2016-04-14

Family

ID=55653281

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2015/082632 WO2016056678A1 (fr) 2015-11-19 2015-11-19 Machine de construction, et procédé de commande de machine de construction

Country Status (6)

Country Link
US (1) US9834908B2 (fr)
JP (1) JP6001808B2 (fr)
KR (1) KR101855970B1 (fr)
CN (1) CN105874131B (fr)
DE (1) DE112015000238B4 (fr)
WO (1) WO2016056678A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019012701A1 (fr) * 2017-07-14 2019-01-17 株式会社小松製作所 Engin de chantier et procédé de commande d'engin de chantier
KR20190017719A (ko) 2017-07-14 2019-02-20 가부시키가이샤 고마쓰 세이사쿠쇼 작업 기계 및 작업 기계의 제어 방법
JP2020029716A (ja) * 2018-08-23 2020-02-27 株式会社神戸製鋼所 掘削作業機械の油圧駆動装置
JP2020029717A (ja) * 2018-08-23 2020-02-27 株式会社神戸製鋼所 掘削作業機械の油圧駆動装置

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Publication number Priority date Publication date Assignee Title
JP6934514B2 (ja) * 2017-04-27 2021-09-15 株式会社小松製作所 作業車両の制御システム、方法、及び作業車両
CN107587544B (zh) * 2017-10-30 2023-03-31 三一重机有限公司 控制松土器工作装置速度的系统及速度控制方法
JP7283910B2 (ja) * 2019-02-01 2023-05-30 株式会社小松製作所 建設機械の制御システム、建設機械、及び建設機械の制御方法
IT201900024153A1 (it) * 2019-12-16 2021-06-16 Manitou Italia Srl Veicolo operatore con dispositivo di centraggio assistito.
CN111042260A (zh) * 2019-12-18 2020-04-21 广西柳工机械股份有限公司 装载机动臂举升控制系统及方法
JP7405611B2 (ja) * 2019-12-27 2023-12-26 株式会社小松製作所 作業機械の制御システム、作業機械、作業機械の制御方法、及び作業機械の制御装置
IT202000025864A1 (it) 2020-10-30 2022-04-30 Cnh Ind Italia Spa Procedimenti di controllo per azionare il movimento di un braccio o un attrezzo in una macchina operatrice, corrispondenti sistemi di controllo e macchine operatrici comprendenti tali sistemi di controllo
CN112627279B (zh) * 2020-11-25 2023-03-10 三一重机有限公司 主动降低挖掘机动作冲击的方法、装置及工程机械
CN112392080B (zh) * 2020-11-25 2022-07-29 三一重机有限公司 主动降低挖掘机动作冲击的装置、方法及挖掘机
CN112727817B (zh) * 2021-01-27 2022-06-17 徐州徐工矿业机械有限公司 一种用于工程机械的电子缓冲控制方法

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JPH03241124A (ja) * 1990-02-19 1991-10-28 Kubota Corp バックホウの作業用操作構造

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JP3310783B2 (ja) 1994-07-21 2002-08-05 日立建機株式会社 作業機の干渉防止装置
JP3549423B2 (ja) 1999-01-06 2004-08-04 株式会社クボタ バックホウ
WO2007086783A1 (fr) * 2006-01-26 2007-08-02 Volvo Construction Equipment Ab Procédé pour commander le mouvement d'un élément de véhicule
JP4839390B2 (ja) 2009-04-17 2011-12-21 株式会社神戸製鋼所 旋回式作業機械の旋回停止制御装置および方法
JP5512311B2 (ja) * 2010-02-03 2014-06-04 住友重機械工業株式会社 建設機械
JP2011188757A (ja) * 2010-03-12 2011-09-29 Yanmar Co Ltd 作業車
JP5341005B2 (ja) 2010-03-29 2013-11-13 日立建機株式会社 建設機械
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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2019012701A1 (ja) * 2017-07-14 2020-05-07 株式会社小松製作所 作業機械および作業機械の制御方法
KR20190017719A (ko) 2017-07-14 2019-02-20 가부시키가이샤 고마쓰 세이사쿠쇼 작업 기계 및 작업 기계의 제어 방법
DE112017000119T5 (de) 2017-07-14 2019-02-28 Komatsu Ltd. Arbeitsmaschine und Steuerungsverfahren für Arbeitsmaschine
WO2019012701A1 (fr) * 2017-07-14 2019-01-17 株式会社小松製作所 Engin de chantier et procédé de commande d'engin de chantier
US11047108B2 (en) 2017-07-14 2021-06-29 Komatsu Ltd. Work machine and control method for work machine
US10787788B2 (en) 2017-07-14 2020-09-29 Komatsu Ltd. Work machine and control method for work machine
JP2020029716A (ja) * 2018-08-23 2020-02-27 株式会社神戸製鋼所 掘削作業機械の油圧駆動装置
WO2020039834A1 (fr) * 2018-08-23 2020-02-27 株式会社神戸製鋼所 Actionneur hydraulique pour machine de travail d'excavation
WO2020039833A1 (fr) * 2018-08-23 2020-02-27 株式会社神戸製鋼所 Dispositif de commande hydraulique de machines de travail d'excavation
JP2020029717A (ja) * 2018-08-23 2020-02-27 株式会社神戸製鋼所 掘削作業機械の油圧駆動装置
US11286644B2 (en) 2018-08-23 2022-03-29 Kobe Steel, Ltd. Hydraulic actuator for excavation work machine
US11293163B2 (en) 2018-08-23 2022-04-05 Kobe Steel, Ltd. Hydraulic drive device for excavation work machines
JP7082011B2 (ja) 2018-08-23 2022-06-07 株式会社神戸製鋼所 掘削作業機械の油圧駆動装置
JP7096105B2 (ja) 2018-08-23 2022-07-05 株式会社神戸製鋼所 掘削作業機械の油圧駆動装置

Also Published As

Publication number Publication date
DE112015000238T5 (de) 2016-09-15
JPWO2016056678A1 (ja) 2017-04-27
KR101855970B1 (ko) 2018-05-09
DE112015000238B4 (de) 2020-09-24
CN105874131B (zh) 2017-11-14
US20170145662A1 (en) 2017-05-25
CN105874131A (zh) 2016-08-17
US9834908B2 (en) 2017-12-05
KR20170059427A (ko) 2017-05-30
JP6001808B2 (ja) 2016-10-05

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